// --------------------------------------------------------------------------------------------------------------------
// <copyright file="RobotiqSModelHardwareTests.cs" company="Microsoft Corporation">
// The MIT License (MIT)
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namespace Test.Robotics.Hardware.Robotiq
{
    using System;
    using Microsoft.Robotics.Hardware.Robotiq;
    using Microsoft.VisualStudio.TestTools.UnitTesting;

    /// <summary>
    /// Tests for the Robotiq S Model gripper requiring the hardware to be present and powered
    /// </summary>
    [TestClass]
    public class RobotiqSModelHardwareTests
    {
        /// <summary>
        /// Test that connection to the gripper is successful
        /// Requires a powered on gripper attached to machine at default IP and Unit ID
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
#if !ROBOTIQ_S_MODEL_PRESENT
        [Ignore]
#endif
        public void HW_RobotiqSModelConnectTest()
        {
            RobotiqSModelGripper gripper = new RobotiqSModelGripper();

            gripper.Dispose();
        }

        /// <summary>
        /// Test that the gripper can get data back
        /// Requires a powered on gripper attached to machine at default IP and Unit ID
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
#if !ROBOTIQ_S_MODEL_PRESENT
        [Ignore]
#endif
        public void HW_RobotiqSModelGetStateUpdate()
        {
            RobotiqSModelGripper gripper = new RobotiqSModelGripper();
            gripper.UpdateState();
        }

        /// <summary>
        /// Test that the gripper can get data back
        /// Requires a powered on gripper attached to machine at default IP and Unit ID
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
#if !ROBOTIQ_S_MODEL_PRESENT
        [Ignore]
#endif
        public void HW_RobotiqSModelActivate()
        {
            RobotiqSModelGripper gripper = new RobotiqSModelGripper();

            gripper.ResetGripper(true, 60000);

            // Give gripper time to activate
            System.Threading.Thread.Sleep(20000);

            gripper.UpdateState();

            Assert.IsTrue(gripper.State.IsActivated);

            gripper.ResetGripper(false, 20000);

            System.Threading.Thread.Sleep(2000);

            gripper.UpdateState();

            Assert.IsFalse(gripper.State.IsActivated);
        }
    }
}
